6.7. Moving Robot to Robot Approach Position at Measurement For a processing to move the robot to the robot approach position at measurement, follow the procedures below. 34 By the procedures at the step 2 in Chapter 6.6, check that the measurement results are stored in the variables 1 The depth of the container, the height of the workpiece position and the length of the hand are taken into account to determine the approach distance to the workpiece. Approach distance 2 Set the referenced robot approach distance to the variable and add the robot approach distance to the measurement results acquired at step 2 in Chapter 6.6. !;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; !
(5)Move the robot to the approach position ! You have to configure the following robot approach ! distance for your application. !;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; std appro dist := 30; _ _ Set the robot approach distance to the variable.
res appro pos x := res cmd pos x; _ _ _ _ _ _ res appro pos y := res cmd pos y; _ _ _ _ _ _ Add the robot approach res appro pos z := res cmd pos z + std appro dist; _ _ _ _ _ _ _ _ distance to the res appro pos w := res cmd pos w; _ _ _ _ _ _ res appro pos p := res cmd pos p; measurement results _ _ _ _ _ _ res appro pos r := res cmd pos r; _ _ _ _ _ _ 3 Set the variable as arguments for the robot motion sample function (fhsample _move) and execute it. !!!!!!!!!! CAUTION !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!! ! The following function drives a robot motion immediately. ! Confirm the settings before execution. !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
fhsample move res appro pos x, res appro pos y, res appro pos z, res appro pos w, _ _ _ _ _ _ _ _ _ _ _ _ _ res appro pos p, res appro pos r,err no; _ _ _ _ _ _ _ Robot motion sample function 4